U.S. patent application number 12/383186 was filed with the patent office on 2010-09-23 for three-dimensional image capture system for subjects.
This patent application is currently assigned to CRANIAL TECHNOLOGIES, INC.. Invention is credited to Timothy R. Littlefield, Jerold N. Luisi, Jeanne K. Pomatto-Hertz.
Application Number | 20100238273 12/383186 |
Document ID | / |
Family ID | 42737207 |
Filed Date | 2010-09-23 |
United States Patent
Application |
20100238273 |
Kind Code |
A1 |
Luisi; Jerold N. ; et
al. |
September 23, 2010 |
Three-dimensional image capture system for subjects
Abstract
Apparatus to capture three-dimensional images of a subject
selected from the group consisting of an animate object, an
inanimate object, a human, an animal, a biological mass or a
portion of a subject comprises a plurality of image capturing
device modules, each module comprises a plurality of
image-capturing devices; and a rigid support structure supporting
the plurality of image capturing device modules to define a space
wherein said subject may be disposed. The rigid support structure
supports all of the modules in predetermined relationship to each
other and to the space. The rigid support structure further
supports the modules in positions such that each module is
positioned to capture a group of first images of a corresponding
surface portion of the subject disposed within the space such that
each group of first images captured by the corresponding module
captures a substantially different surface portion of the subject
disposed within the space.
Inventors: |
Luisi; Jerold N.; (Phoenix,
AZ) ; Littlefield; Timothy R.; (Phoenix, AZ) ;
Pomatto-Hertz; Jeanne K.; ( Scottsdale, AZ) |
Correspondence
Address: |
DONALD J LENKSZUS
P O BOX 3064
CAREFREE
AZ
85377-3064
US
|
Assignee: |
CRANIAL TECHNOLOGIES, INC.
Tempe
AZ
|
Family ID: |
42737207 |
Appl. No.: |
12/383186 |
Filed: |
March 20, 2009 |
Current U.S.
Class: |
348/48 ;
348/E13.074; 396/419 |
Current CPC
Class: |
G03B 17/00 20130101;
H04N 13/243 20180501 |
Class at
Publication: |
348/48 ; 396/419;
348/E13.074 |
International
Class: |
H04N 13/02 20060101
H04N013/02; G03B 17/00 20060101 G03B017/00 |
Claims
1. Apparatus to capture three-dimensional images of a subject
selected from the group consisting of an animate object, an
inanimate object, a human, an animal, a biological mass or a
portion of a subject, said apparatus comprising: a plurality of
image capturing device groups, each of said groups comprising a
plurality of image-capturing devices; a single support structure
supporting said plurality of image capturing device groups in
predetermined relationship to each other; said predetermined
relationship defining a space; said support structure supporting
said plurality of image capturing device groups in positions such
that each said group is positioned to capture a group of first
images of a corresponding surface portion of said subject disposed
within said space, each said group of first images captured by the
corresponding each of said image capturing device groups capturing
a substantially different surface portion of said subject disposed
within said space, each said group being disposed on said structure
such that the totality of the surface of said subject within said
space is captured.
2. Apparatus in accordance with claim 1, wherein: said support
structure carries said plurality of image capturing device groups
disposed in predetermined relationships to a plurality of
planes.
3. Apparatus in accordance with claim 2, wherein: said support
structure carries at least a first one of said image capturing
device groups disposed in a first predetermined relationship to a
first plane and others of said image capturing device groups
disposed in a second predetermined relationship to a second
plane.
4. Apparatus in accordance with claim 3, wherein: said first plane
is parallel to and spaced apart from said second plane.
5. Apparatus in accordance with claim 4, wherein: each of said
image capturing device groups comprises a plurality of digital
image capturing devices.
6. Apparatus in accordance with claim 5 wherein: each of said
digital image capturing devices comprises a digital camera.
7. Apparatus in accordance with claim 6, wherein: each of said
image capturing device groups comprises a projector.
8. Apparatus in accordance with claim 2, wherein: said support
structure carries at least a first one of said image capturing
device groups disposed in a first predetermined relationship to a
first plane and carries others of said image capturing device
groups disposed in a second predetermined relationship to a second
plane, each of said others of said image capturing device groups
being disposed on said support structure equidistant from an
imaginary axis extending perpendicular to said first and second
planes through said at least a first one of said image capturing
device groups.
9. Apparatus in accordance with claim 8, wherein: said support
structure comprises an arcuate portion carrying said others of said
image capturing device groups.
10. Apparatus in accordance with claim 1, wherein: said support
structure carries said plurality of image capturing device groups
disposed in predetermined relationships to first, second and third
planes, such that said support structure carries at least a first
one of said image capturing device groups in a first predetermined
relationship to said first plane, carries at least second image
capturing device groups in a second predetermined relationship to
said second plane, and carries at least a third image capturing
device group in a third predetermined relationship to said third
plane.
11. Apparatus in accordance with claim 10, wherein: said first,
second and third planes are parallel.
12. Apparatus in accordance with claim 11, wherein: said first and
third planes are on opposite sides of said second plane.
13. Apparatus in accordance with claim 1, wherein: said support
structure comprises a first rigid substantially arcuate portion
carrying a first portion of said image capturing device groups in a
first predetermined spatial relationship, said support structure
supporting each of said image capturing device groups in a
predetermined alignment to a horizontal plane.
14. Apparatus in accordance with claim 13, comprising: a plurality
of vertical support structures, each supporting said first rigid
substantially arcuate portion at a predetermined uniform
height.
15. Apparatus in accordance with claim 14, wherein: at least one of
said vertical support structures extends above said first rigid
structure and supports a second rigid structure portion
substantially disposed in a second horizontal plane having a
predetermined relationship to said first plane; and said second
rigid structure portion supports a second portion of said image
capturing device groups in a predetermined fixed relationship above
said first portion of said image capturing device groups.
16. Apparatus in accordance with claim 1, wherein: said support
structure comprises a plurality of rigid support elements rigidly
coupled to each other.
17. Apparatus in accordance with claim 1, wherein: said support
structure comprises low-reflectivity surfaces.
18. Apparatus to capture three-dimensional images of a subject
selected from the group consisting of an animate object, an
inanimate object, a human, an animal, a biological mass or a
portion of a subject, said apparatus comprising: a plurality of
image capturing device modules, each of said modules comprising a
plurality of image-capturing devices; a rigid support structure
rigidly supporting each of said image capturing device modules in
predetermined relationship to each other such that one module of
said modules is disposed in a first horizontal plane centered on a
vertical axis and the remaining modules of said plurality image
capturing device modules are disposed along the circumference of a
circle in a second plane parallel to said first plane and centered
on said vertical axis, said subject being disposed in a
predetermined position with respect to said vertical axis and said
second plane.
19. Apparatus in accordance with claim 18, wherein: each of said
remaining modules is spaced equidistant from each other.
20. Apparatus in accordance with claim 18, wherein: said first
horizontal plane is disposed a first predetermined distance above
said second horizontal plane.
21. Apparatus in accordance with claim 20, wherein: said second
horizontal plane is disposed a second predetermined distance above
ground.
22. Apparatus in accordance with claim 18, comprising: subject
positioning apparatus disposed within said rigid support structure
in alignment with said axis.
23. Apparatus in accordance with claim 22, wherein: said subject
positioning apparatus is operable to move said subject to a
predetermined position.
24. Apparatus in accordance with claim 23, wherein: said rigid
support apparatus comprises an opening for subject ingress and
egress.
25. Apparatus to capture three-dimensional images of a subject
selected from the group consisting of an animate object, an
inanimate object, a human, an animal, a biological mass or a
portion of a subject, said apparatus comprising: a plurality of
image capturing device modules, each of said modules comprising a
plurality of image-capturing devices; a rigid support structure
rigidly supporting each of said image capturing device modules in
predetermined relationship to each other such that one module of
said modules is disposed in a first horizontal plane centered on a
vertical axis and the remaining modules of said plurality image
capturing device modules are disposed along the circumference of a
circle in a second plane parallel to said first plane and centered
on said vertical axis, said subject being disposed in a
predetermined position with respect to said vertical axis and said
second plane; said rigid support structure comprising first, second
and third vertical supports, said first, second and third vertical
supports being spaced along said circumference such that said first
and second supports are spaced apart by the same circumferential
distance as said second and third supports; said rigid support
structure comprising first, second, third and fourth arcuate
support members; said first arcuate support member being rigidly
coupled to said first vertical support; said second arcuate support
member being rigidly coupled to said first and said second vertical
supports; said third arcuate support member being rigidly coupled
to said second and said third vertical supports; said fourth
arcuate support member being rigidly coupled to said third vertical
support; said remaining modules comprising a first module supported
on said first arcuate member, a second module supported on said
second arcuate member; a third module supported on said third
arcuate member; and a fourth module supported on said fourth
arcuate member.
26. Apparatus in accordance with claim 25, wherein: said first and
said fourth arcuate members each have an unsupported end spaced
apart from each other to provide an opening in said structure for
subject ingress and egress.
27. Apparatus in accordance with claim 25, wherein: said second
vertical support extends above said second and third arcuate
members and is rigidly coupled to a horizontal member, said
horizontal member supporting said one module.
28. Apparatus in accordance with claim 27, wherein: said second
vertical support comprises an arcuate portion rigidly coupled to
said horizontal member.
29. Apparatus in accordance with claim 28, comprising: a display
disposed within said second vertical support.
30. Apparatus to capture three-dimensional images of a subject
selected from the group consisting of an animate object, an
inanimate object, a human, an animal, a biological mass or a
portion of a subject, said apparatus comprising: a plurality of
image capturing modules; each of said modules comprising a
plurality of image-capturing devices; a single support structure
supporting said plurality of image capturing modules in
predetermined relationship to each other; said predetermined
relationship defining a space; said support structure supporting
said plurality of image capturing modules in positions such that
each said module is positioned to capture a group of first images
of a corresponding surface portion of said subject disposed within
said space, each said group of first images captured by the
corresponding each said module capturing a substantially different
surface portion of said subject disposed within said space, each
said module being disposed on said structure such that first images
of the totality of the surface of said subject within said space
are captured.
31. Apparatus in accordance with claim 30, wherein: said support
structure carries said plurality of modules disposed in
predetermined relationships to a plurality of planes.
32. Apparatus in accordance with claim 31, wherein: said support
structure carries at least a first one of said modules disposed in
a first predetermined relationship to a first plane and others of
said modules disposed in a second predetermined relationship to a
second plane.
33. Apparatus in accordance with claim 32, wherein: said first
plane is parallel to and spaced apart from said second plane.
34. Apparatus in accordance with claim 33, wherein: each of said
modules comprises a plurality of digital image capturing
devices.
35. Apparatus in accordance with claim 34, wherein: each of said
modules comprises a digital camera.
36. Apparatus in accordance with claim 35, wherein: each of said
modules comprises a projector.
37. Apparatus in accordance with claim 31, wherein: said support
structure carries at least a first one of said modules disposed in
a first predetermined relationship to a first plane and carries
others of said modules disposed in a second predetermined
relationship to a second plane, each of said others of said modules
being disposed on said support structure equidistant from an
imaginary axis extending perpendicular to said first and second
planes through said at least a first one of said modules.
38. Apparatus in accordance with claim 37, wherein: said support
structure comprises an arcuate portion carrying said others of said
modules.
39. Apparatus in accordance with claim 30, wherein: said support
structure carries said plurality of modules disposed in
predetermined relationships to first, second and third planes, such
that said support structure carries at least a first one of said
modules in a first predetermined relationship to said first plane,
carries at least a second group of said modules in a second
predetermined relationship to said second plane, and carries at
least a third group of said modules in a third predetermined
relationship to said third plane.
40. Apparatus in accordance with claim 39, wherein: said first,
second and third planes are parallel.
41. Apparatus in accordance with claim 40, wherein: said first and
third planes are on opposite sides of said second plane.
42. Apparatus in accordance with claim 40, wherein: said support
structure comprises a plurality of first rigid arcuate portion
carrying one group of said modules in a first predetermined spatial
relationship, said rigid arcuate portion supporting each of said
modules in a predetermined alignment to a first plane.
43. Apparatus in accordance with claim 42, comprising: said rigid
arcuate portion comprises a plurality of vertical support elements
and a plurality of arcuate elements, said vertical support elements
supporting said plurality of arcuate elements at a predetermined
uniform distance from a second plane.
44. Apparatus in accordance with claim 43, comprising: a second
rigid structure portion substantially disposed in a third plane
having a predetermined relationship to said first plane; and said
second rigid structure portion supporting a second group of said
modules in a predetermined fixed relationship to said one group of
modules.
45. Apparatus in accordance with claim 30, wherein: said support
structure comprising a plurality of rigid support elements rigidly
coupled to each other.
46. Apparatus in accordance with claim 30, wherein: said support
structure comprises low-reflectivity surfaces.
47. Apparatus to capture three-dimensional images of a subject,
said apparatus comprising: a plurality of image capturing device
modules, each of said modules comprising a plurality of
image-capturing devices; a support structure supporting said image
capturing device modules in predetermined relationship to each
other such that at least one module of said modules is disposed in
a first plane centered on an axis and others of said modules are
disposed in a second plane parallel to said first plane and
centered on said axis; and apparatus automatically operating said
plurality of image capturing device modules when said subject is
disposed in a predetermined position with respect to said axis and
said second plane.
48. Apparatus in accordance with claim 47, wherein: said
automatically operating apparatus comprises sensing apparatus to
sense the position of said subject.
49. Apparatus in accordance with claim 48, wherein: said
automatically operating apparatus comprises subject displacing
apparatus to automatically position said subject to said
predetermined position.
Description
[0001] This application is related to the following application and
patents all assigned to Cranial Technologies, Inc. a common
assignee with this application: Published patent application Ser.
No. 11/471,965 which is a division of U.S. Pat. No. 7,305,369;
Cranial Remodeling Device Database U.S. Pat. No. 7,177,461;
Automatic Selection of Cranial Remodeling Device Configuration,
U.S. Pat. No. 7,242,798; Automatic Selection of Cranial Remodeling
Device Trim Lines, U.S. Pat. No. 7,127,101; and Cranial Remodeling
Device Manufacturing System, U.S. Pat. No. 7,142,701. The teachings
and disclosures of the above-identified application and patents are
incorporated herein.
FIELD
[0002] This invention pertains to imaging systems, in general, and
to a three-dimensional imaging system for capturing
three-dimensional images of the totality of surface of a subject
selected from the group consisting of an animate object, an
inanimate object, a human, an animal, a biological mass or a
portion of a subject, in particular.
BACKGROUND
[0003] Treatment of infants with deformational plagiocephaly with
cranial remodeling bands has become a standard of care in the
United States. Cranial Technologies, Inc. the assignee of the
present invention pioneered this treatment.
[0004] Cranial Technologies, Inc. has further carried forward with
its pioneering efforts by the development of an image capturing
system that captures three-dimensional images of the entirety of
the surface of an object, in general, and the entirety of the
surface of a head, in particular. The Cranial Technologies, Inc.
image capturing system is described in the above-identified patents
and application.
[0005] Cranial Technologies, Inc. recognized that any imaging
system to be used in a clinical setting had to be robust, easy to
use, and easy to calibrate and maintain without the need for hiring
additional technical staff to run the equipment.
[0006] The Cranial Technologies, Inc. image capturing system
captures accurate three-dimensional images of heads and is
configured such that the head having its image captured does not
have to be stationary or fixed in one particular orientation. The
Cranial Technologies system captures a three-dimensional digitized
image of the entirety of the head even though the subject may move
in a generally non-predetermined manner within a predetermined
space. A sequence of instantaneous three-dimensional images may be
captured to provide a movie of the head as it moves.
[0007] The Cranial Technologies, Inc. system utilizes a plurality
of image capturing device groups. Each group comprises a plurality
of image capturing devices arranged as a module. The image
capturing devices define a space wherein a head may be disposed.
The head is movable within the space. The image capturing device
groups are positioned such that each group is positioned to capture
a group of first images of a corresponding surface portion of the
head. Each group of first images captures a substantially different
surface portion of the head disposed within the space.
[0008] In the Cranial Technologies, Inc. system each group includes
digital cameras and a projector that projects random infrared
patterns onto the head to instantaneously capture a 360.degree.
full surface image of the object. The image is acquired in 0.008
seconds and processed for viewing in software. The data acquired is
viewable on a display or printed out as a point cloud, wire frame,
or surface, on which a digital photograph (i.e. texture) is
automatically overlaid. A texture overlay of the head may be
provided. The use of a texture overlay permits advantageous visual
confirmation of the identity of the subject.
[0009] In the Cranial Technologies, Inc. system each group is
supported on corresponding individual tripod structures that are
individually positioned and adjusted to predetermined positions
relative to each other.
[0010] Although the Cranial Technologies, Inc. system is highly
effective, it is desirable to provide a structure for the system
that requires ensures accurate and consistent imaging from
installation to installation by providing physically consistent
placement of the imaging devices and further does not require
periodic physical adjustment to maintain the placement.
SUMMARY
[0011] In one embodiment, apparatus to capture three-dimensional
images of a subject selected from the group consisting of an
animate object, an inanimate object, a human, an animal, a
biological mass or a portion of a subject comprises a plurality of
image capturing device groups, each group comprising a plurality of
image-capturing devices, and a single support structure supporting
the plurality of image capturing device groups in predetermined
relationship to each other. The predetermined relationship defines
a space. The support structure supports the image capturing device
groups in positions such that each said group is positioned to
capture a group of first images of a corresponding surface portion
of the subject disposed within the defined space. Each group of
first images captures a substantially different surface portion of
the subject. Each group is disposed on the structure such that the
totality of the surface of the subject within the space is
captured.
[0012] In an embodiment described herein, apparatus to capture
three-dimensional images of a subject selected from the group
consisting of an animate object, an inanimate object, a human, an
animal, a biological mass, a non-biological mass, or a portion of
any of the foregoing comprises: a plurality of image capturing
device modules, each module comprising a plurality of
image-capturing devices; and a rigid support structure rigidly
supporting each module in predetermined relationship to each other
such that one module is disposed in a first horizontal plane
centered on a vertical axis and the remaining modules are disposed
along the circumference of a circle in a second plane parallel to
the first plane and centered on the vertical axis. The subject is
disposed in a predetermined position with respect to the vertical
axis and the second plane.
[0013] In the embodiment each remaining module is spaced
equidistant from each other.
[0014] Still further in the embodiment the first horizontal plane
is disposed a first predetermined distance above the second
horizontal plane. The second horizontal plane is disposed a second
predetermined distance above ground.
[0015] Further in accordance with the embodiment subject
positioning apparatus is disposed within the rigid support
structure in alignment with the axis. The subject positioning
apparatus is operable to move the subject to a predetermined
position.
[0016] Still further in accordance with an aspect of the embodiment
the rigid support apparatus comprises an opening for subject
ingress and egress.
[0017] In accordance with another embodiment apparatus is provided
to capture three-dimensional images of a subject selected from the
group consisting of an animate object, an inanimate object, a
human, an animal, a biological mass, a non-biological mass or a
portion of any of the foregoing. The apparatus comprises a
plurality of image capturing device modules comprising a plurality
of image-capturing devices; and a rigid support structure rigidly
supporting each of the modules in predetermined relationship to
each other such that one module is disposed in a first horizontal
plane centered on a vertical axis and the remaining modules are
disposed along the circumference of a circle in a second plane
parallel to the first plane and centered on the vertical axis. The
subject is disposed in a predetermined position with respect to the
vertical axis and the second plane. The rigid support structure
comprises first, second and third vertical supports. The first,
second and third vertical supports are spaced along the
circumference such that the first and second supports are spaced
apart by the same circumferential distance as the second and third
supports. The rigid support structure comprises first, second,
third and fourth arcuate support members. The first arcuate support
member is rigidly coupled to the first vertical support. The second
arcuate support member is rigidly coupled to the first and the
second vertical supports. The third arcuate support member is
rigidly coupled to the second and third vertical supports. The
fourth arcuate support member is rigidly coupled to the third
vertical support. The remaining modules comprise a first module
supported on the first arcuate member, a second module supported on
the second arcuate member, a third module supported on the third
arcuate member, and a fourth module supported on the fourth arcuate
member.
[0018] The first and fourth arcuate members each have an
unsupported end spaced apart from each other to provide an opening
in the structure for subject ingress and egress.
[0019] The second vertical support extends above the second and
third arcuate members and is rigidly coupled to a horizontal member
supporting the one module.
[0020] The second vertical support comprises an arcuate portion
rigidly coupled to the horizontal member.
[0021] Further in accordance with this embodiment a display is
disposed within the second vertical support.
[0022] In a further embodiment apparatus to capture
three-dimensional images of a subject selected from the group
consisting of an animate object, an inanimate object, a human, an
animal, a biological mass, a non-biological mass, or a portion of
any of the foregoing comprises a plurality of image capturing
modules each comprising a plurality of image-capturing devices, and
a single support structure supporting the modules in predetermined
relationship to each other to define a space. The support structure
supports the plurality of image capturing modules in positions such
that each module is positioned to capture a group of first images
of a corresponding surface portion of the subject disposed within
the space. Each group of first images captured by the corresponding
module, captures a substantially different surface portion of the
subject disposed within the space. Each module is disposed on the
structure such that first images of the totality of the surface of
the subject within the space are captured.
[0023] The support structure carries the plurality of modules
disposed in predetermined relationships to a plurality of planes.
At least a first one of the modules is disposed in a first
predetermined relationship to a first plane and others of the
modules are disposed in a second predetermined relationship to a
second plane.
[0024] In accordance with another aspect, each of the other modules
is disposed on the support structure equidistant from an imaginary
axis extending perpendicular to the first and second planes and
through the first one module.
[0025] In accordance with a yet further aspect, the support
structure carries the plurality of modules disposed in
predetermined relationships to first, second and third planes, such
that the support structure carries at least a first module in a
first predetermined relationship to the first plane, carries at
least a second group of the modules in a second predetermined
relationship to the second plane, and carries at least a third
group of modules in a third predetermined relationship to the third
plane.
[0026] In the embodiment, the first, second and third planes are
parallel, and the first and third planes are on opposite sides of
the second plane.
[0027] In accordance with another aspect of the embodiments, the
support structure comprises low-reflectivity surfaces.
[0028] In another embodiment of the invention, apparatus to capture
three-dimensional images of a subject selected from the group
consisting of an animate object, an inanimate object, a human, an
animal, a biological mass, a non-biological mass, or a portion of
any of the foregoing comprises a plurality of image capturing
device modules, each comprising a plurality of image-capturing
devices, and a support structure supporting the modules in
predetermined relationship to each other such that at least one
module is disposed in a first plane centered on an axis and other
modules are disposed in a second plane parallel to the first plane
and centered on the axis, and apparatus automatically operating the
plurality of image capturing device modules when the subject is
disposed in a predetermined position with respect to the axis and
the second plane.
[0029] In accordance with an aspect of the embodiment, the
automatically operating apparatus comprises sensing apparatus to
sense the position of the subject.
[0030] In accordance with a further aspect of the embodiment, the
automatically operating apparatus comprises subject displacing
apparatus to automatically position the subject to the
predetermined position.
BRIEF DESCRIPTION OF THE DRAWING
[0031] The invention will be better understood from a reading of
the following detailed description of embodiments of the invention
taken in conjunction with the drawing figures in which like
reference designators are used to identify like elements, and in
which:
[0032] FIG. 1 is an isometric view of an image capture system in
accordance with the invention;
[0033] FIG. 2 is a front planar view of a portion of the image
capture system of FIG. 1;
[0034] FIG. 3 is a right side planar view of the image capture
system portion of FIG. 1;
[0035] FIG. 4 is a top planar view of the image capture system
portion of FIG. 1;
[0036] FIG. 5 is an exploded view the image capture system portion
of FIG. 1;
[0037] FIG. 6 is an enlarged view of a portion of FIG. 1
[0038] FIG. 7 is a right side view of a module portion of the image
capture system of FIG. 1;
[0039] FIG. 8 is a front of a module portion of the image capture
system of FIG. 1;
[0040] FIG. 9 is a left side view of a module portion of the image
capture system of FIG. 1;
[0041] FIG. 10 is a rear view of a module portion of the image
capture system of FIG. 1;
[0042] FIG. 11 is a perspective view of the image capture system of
FIG. 1 showing a patient stool disposed therewith;
[0043] FIG. 12 is a top view schematic representation of the image
capture system of FIG. 1;
[0044] FIG. 13 is a side view schematic representation of the image
capture system of FIG. 1; and
[0045] FIG. 14 is a side view schematic representation of a second
embodiment of an image capture system in accordance with the
principles of the invention.
DETAILED DESCRIPTION
[0046] The present invention has advantages over prior system
arrangements. One significant advantage is that all the cameras and
projectors are disposed in a fixed geometric relationship to each
other. A significant benefit resulting from the fixed relationship
is that each system installation does not require extensive camera
set-up positioning which in turn provides for consistent and
standardized system installations.
[0047] The structural configuration of the embodiment provides a
feeling of openness to users of the system which is advantageous.
Prior systems utilizing tripod supports for cameras were perceived
as constraining. The structural configuration of the embodiment
provides a more open volume with more room to permit subjects and
system operators or clinicians ingress and egress into and out of
the structure.
[0048] The embodiment provides the further advantage that all
cabling between the image capturing devices, projectors and other
apparatus are contained within the structure. Providing the cabling
within the structure also adds to the feeling of openness and also
protects the system from inadvertent interaction with the
cabling.
[0049] An additional advantage of the embodiment is that the system
structure is fabricated from rolled welded steel sections that
provide a rigid heavy structure. The structural mass and the
mounting of the structure to the floor provide significant
vibration isolation that improves the quality of the images.
[0050] One further advantage of the embodiment that has been
observed is that room produced optical noise such as stray
reflections are noticeably reduced providing images with better
contrast and less stray data over prior systems.
[0051] The various embodiments of the invention may be utilized to
obtain three-dimensional surface images of the entirety of an
object which may be a subject's head or a subject's whole body or
other objects.
[0052] In addition, the embodiments of the invention include an
integrated display. One advantageous use of the display is as an
attention attractor for children when the system is utilized to
capture images of an infant or child. For example, videos may be
displayed to help keep an infant's or child's attention and focus
directed on the display.
[0053] One embodiment of the invention includes an automated stool
like apparatus that utilizes a foot switch to adjust the height of
the stool. In the past, a manual stool was used that required
simultaneously holding a child and adjusting stool height.
[0054] FIGS. 1 through 6 show one embodiment of an image capture
system 100. System 100 includes a plurality of groups of image
capturing apparatus 101a, 101b, 101c, 101d, 101e all supported on a
support apparatus 102. Each group of image capturing apparatus
101a, 101b, 101c, 101d, 101e is operable such that a
three-dimensional image is captured for a surface portion of an
object that is disposed within the field of view of the groups. The
images from all groups 101a, 101b, 101c, 101d, 101e are combined to
produce an image of the entirety of the surface of the object.
[0055] In system 100, each group of image capturing apparatus 101a,
101b, 101c, 101d, 101e includes a plurality of digital cameras and
a projector. Neither the cameras not the projectors are shown in
the drawing figures. Each camera may be any commercially available
digital camera such as, for example, a CCD camera which is a
high-resolution type camera that is commercially available. Each
projector in a group projects a pattern onto the object to
facilitate processing of the images captured by the corresponding
plurality of digital cameras in the same group into a
three-dimensional image of a corresponding portion of the object.
Each projector projects a random infrared pattern onto the object
that permits an algorithm described in the Cranial Technologies,
Inc. patents and patent application identified hereinabove to
easily utilize triangulation to generate a digitized
three-dimensional representation of the corresponding portion of
the object. The cameras in each group 101a, 101b, 101c, 101d, 101e
are positioned to provide images that are utilized by the
algorithm.
[0056] By arranging a plurality of such groups 101a, 101b, 101c,
101d, 101e in a plurality of planes 301, 303, three-dimensional
image portions are obtained that can be compiled to produce
three-dimensional images of the entirety of an object.
[0057] Producing three-dimensional images of some objects are
particularly difficult because such objects do not remain
motionless. Furthermore the motion that some objects take is
somewhat unpredictable. The object may have translational,
rotational and angular motions simultaneously. The motions may be
smooth or they may be jerky. The object may have translational
movement in one direction while rotating in the opposite direction.
The system of the invention is arranged to operate at a speed to
capture the entirety of an object in stop-action in one single
instant.
[0058] As noted herein above, a particularly useful application of
the system of the invention is for use in capturing highly accurate
three-dimensional images of the totality of the surface of the head
of a subject. System 100 utilizes a safe and non-invasive method of
obtaining a 3D model of the entirety of a subject's head. System
100 does not require the subject to be restrained in a specific
orientation and captures a 360.degree. surface image, which
includes at least the face, top of the head, and lower occiput/neck
region. A photographic image of the subject is acquired and can be
seamlessly overlaid on the three-dimensional display of the head to
guarantee patient identification. The digital model is processed
and visualized within minutes to ensure that no data are missing
before allowing the patient to leave the office. Operation of the
system is simple, fast, and robust.
[0059] In operation, the cameras and projectors of all groups of
image capturing apparatus 101a, 101b, 101c, 101d, 101e are
simultaneously operated to capture digitized first images of
corresponding surface portions of the object or subject's head.
[0060] The plurality of groups of image capturing apparatus 101a,
101b, 101c, 101d, 101e are supported by a support apparatus or
structure 102 to define a space 200 within which a
three-dimensional image is captured of the entirety of the object
or a subject's head that is not shown. Although the illustrative
embodiments shows a particular shaped spaces 200, it will be
understood by those skilled in the art that the defined spaces 200
are only illustrative and the actual defined space may be of a
different configuration. In other implementations, support
structure 102 may support the image capturing apparatus to, for
example, define a space 200 that is elongated in one or more
directions.
[0061] Support structure 102 supports all of groups of image
capturing apparatus 101a, 101b, 101c, 101d, 101e in predetermined
relationship to each other and to the space 200. Support structure
102 further supports groups of image capturing apparatus 101a,
101b, 101c, 101d, 101e in positions such that each module 101a,
101b, 101c, 101d, 101e is positioned to capture a group of first
images of a corresponding surface portion of a subject head or
object disposed within space 200 such that each group of first
images captured by the corresponding group of image capturing
apparatus 101a, 101b, 101c, 101d, 101e captures a substantially
different surface portion of a subject head or object disposed
within space 200.
[0062] Support structure 102 comprises a first rigid arcuate
structure 103 carrying a first portion of said groups of image
capturing apparatus 101a, 101b, 101c, 101d in a first predetermined
spatial relationship. Arcuate structure 103 supports each of groups
of image capturing apparatus 101a, 101b, 101c, 101d in a
predetermined or vertical alignment to a first or one horizontal
plane 301.
[0063] A plurality of vertical support structures 105, 107, 109 are
provided to support arcuate structure 103 at a predetermined
uniform height. At least one vertical support structure 109 extends
above arcuate structure 103 and supports a second rigid structure
portion 111 substantially disposed in a second or other horizontal
plane 303 having a predetermined parallel relationship to the first
plane 301. The second rigid structure portion 111 supports a second
portion of the plurality of groups of image capturing apparatus,
i.e., group 101e in a predetermined fixed relationship above the
first portion of the groups of image capturing apparatus 101a,
101b, 101c, 101d.
[0064] Arcuate support structure 103 comprising a plurality of
arcuate support members 103a, 103b, 103c, 103d rigidly coupled to
each other. Each arcuate support elements 103a, 103b, 103c, 103d
supports a corresponding one group of image capturing apparatus
101a, 101b, 101c, 101d. The plurality of arcuate support elements
103a, 103b, 103c, 103d are supported by a plurality of vertical
support structures 105, 107, 109.
[0065] Support structure 102 rigidly supports each of the groups of
image capturing apparatus 101a, 101b, 101c, 101d, 101e in
predetermined relationship to each other such that one group 101e
is disposed in a horizontal plane 303 centered on a vertical axis
305 and the remaining groups 101a, 101b, 101c, 101d are disposed
along the circumference of a circle 403 in a plane 301 parallel
centered on the vertical axis 305. The subject head or object is
desirably disposed in a predetermined position with respect to the
vertical axis 305 and plane 301.
[0066] Each group of image capturing apparatus 101a, 101b, 101c,
101d is arranged in a corresponding module, and each of the modules
101a, 101b, 101c, 101d is disposed along the circumference of
circle 403 and is spaced equidistant from each adjacent module.
[0067] Horizontal plane 303 is disposed a first predetermined
distance 303b above horizontal plane 301 and horizontal plane 301
is disposed a second predetermined distance 303a above a base plane
or floor 300 as shown in FIG. 3.
[0068] Yet further, the rigid support apparatus or structure 102
comprises an opening 400 for ingress and egress to positioning
apparatus 601.
[0069] Turning back to FIG. 5, the various elements of system 100
are shown in exploded view. Support structure 102 comprises a first
vertical support 105, a second vertical support 107, and a third
vertical support 109 spaced apart about the circumference of circle
403 such that the first and third vertical supports 105, 109 are
spaced apart by the same circumferential distance as the second and
third vertical supports 107, 109. Rigid support structure 102
comprises first, second, third and fourth arcuate support members
103a, 103b, 103c, 103d. First arcuate support member 103a is
rigidly coupled to first vertical support 105. Second arcuate
support member 103b is rigidly coupled to the first vertical
support 105 and third vertical support 109. Third arcuate support
member 103c is rigidly coupled to second vertical support 107 and
third vertical support 109. Fourth arcuate support member 103d is
rigidly coupled to second vertical support 107.
[0070] First arcuate member 103a includes aperture 123a for
receiving module 101a. Second arcuate member 103b includes aperture
123b for receiving module 101b. Third arcuate member 103c includes
aperture 123c for receiving module 101c. Fourth arcuate member 103d
includes aperture 123d for receiving module 101d.
[0071] First and fourth arcuate members 103a, 103d each have an
unsupported end spaced apart from each other to provide opening 400
in structure 102 for ingress and egress. First and fourth arcuate
members 103a, 103d are cantilevered from respective first and
second vertical supports 105, 107.
[0072] Each arcuate support member 103a, 103b, 103c, 103d is
connected to its respective vertical support or supports and to the
adjacent arcuate member by means of connector brackets that are
show extending from the ends of the arcuate members.
[0073] Second vertical support 109 extends above the second and
third arcuate members 103b, 103c and is rigidly coupled to a
horizontal member 111 which supports module 110e. second vertical
support 109 comprises an arcuate portion 113 rigidly coupled to
horizontal member 111. Horizontal member 111 includes an aperture
131 for receiving module 101e.
[0074] All cabling to modules 101a, 101b, 101c, 101d, 101e is
carried in conduits or cable races extending through the structure
102. Each arcuate support member 103a, 103b, 103c, 103d includes an
integral cable raceway. FIG. 6 shows a portion of a representative
arcuate support member 103c having integral cable raceway 603c. It
will be understood by those skilled in the art that each of arcuate
support members 103a, 103b, 103c, 103d as well as members 111 and
113 include such cable raceways. Cables connecting the various
modules 101a, 101b, 101c, 101d, 101e are carried in the cable
raceways to the third vertical support 109 which includes a display
151, a keyboard or other input device or devices 153 and support
electronics contained within portions 109a of vertical support 109
and accessible via an access door or opening 109b.
[0075] FIGS. 7 through 10 illustrate a representative one of the
modules 101a, 101b, 101c, 101d, 110e. Each module 101a, 101b, 101c,
told comprises a housing 701 that contains the corresponding
plurality of image capturing devices, and projectors. Each housing
701 includes a front cover 703 and a rear cover 705. Front cover
703 as well as rear cover 705 is removable to permit adjustment of
the plurality of image capturing devices and projector contained
therein. Housing 701 includes apertures 707, 709 that match up with
corresponding cable raceways in support structure 102.
[0076] Turning now to FIG. 11, a positioning apparatus 1101 is
disposed within the area and spatial volume defined by rigid
support structure 102. Positioning apparatus 1101 is disposed in
alignment with axis 305. Positioning apparatus 1101 comprises a
vertically displaceable stool upon which the subject is seated.
Positioning apparatus 1101 is vertically displaceable by the
operator or clinician to adjust the position of the object or
subject relative to groups of image capturing apparatus 101a, 101b,
101c, 101d, 101e. Advantageously, positioning apparatus 1101
includes foot operable actuators to control raising and lowering of
positioning apparatus 1101. With this arrangement, the operator or
clinician can adjust the height of the subject to a desirable
position while, for example, in the instance where the subject is
an infant. Positioning apparatus 1101 is utilized to adjust the
initial position of the subject vertically relative to support
structure 102.
[0077] It will be appreciated by those skilled in the art that
other apparatus may be utilized to adjust the position of the
subject or an object relative support structure 102. For example,
the positioning of the subject or object may occur automatically.
Reference points or areas on the subject or object may be
identified and or detected by various sensors or detectors
incorporated into system 100 and support structure 102. System 100
may automatically operate positioning apparatus 1101 to move or
place the subject or object to a desired position or elevation. One
such arrangement may utilize a sensing arrangement that identifies
the eyes or irises of the subject and controls operation of the
positioning apparatus when the eyes of the subject are at a desired
position or elevation.
[0078] To acquire an image of an object or subject's head, the
system operator first enters object or subject specific information
into system 100 utilizing input apparatus or keyboard 153 and
display 151. The object or subject may be placed on positioning
apparatus 1101.
[0079] An infant subject may be supported by an adult. The infant's
head is not restrained and may move in motion having pivotal,
rotational and translation components. When the adult and infant
are in position the system clinician actuates system 100 to capture
and simultaneously record multiple simultaneous images of the
subject's head. Within a very short: time a digital reconstructed
three-dimensional representation of the entirety of the subject's
head is constructed from the captured images and is viewable on
display 151.
[0080] Once processed, the image data may be viewed in a variety of
formats that include point cloud, wire frame, surface, and texture.
As the name implies, the image presented as a point cloud consists
of hundreds of thousands of independent single points of data. A
wire frame, sometimes referred to as a polygon or triangulated
mesh, connects three individual data points into a single polygon
with each data point being referred to as a vertex. A wire frame is
the first step in viewing the individual data points as one
continuous connected `surface`. Once connected as a series of
polygons, mathematical algorithms are applied to convert the
faceted, polygonized surface into a smooth continuous surface upon
which more complex measurements and mathematical analyses can be
performed. While point cloud, wire frame and surface rendering are
the most common methods for viewing digital data, it is also
possible to obtain texture information which is seamlessly overlaid
on the model. Texture data is overlaid onto the digital image to
ensure proper patient identification.
[0081] Display 151 may be advantageously utilized for a number of
different uses. Illustratively, display 151 may provide video or
video/audio programming that are likely to assist in having the
subject position his/her head in a desired direction relative to
structure 102.
[0082] Operation of system 100 may be substantially completely
automatic such that once a subject enters system 100, the subject
is automatically positioned to a desired position relative to
structure 102 and when the subject is positioned at the desired
position, the groups of image capturing apparatus 101a, 101b, 101c,
101d, 101e are automatically operated to capture a
three-dimensional image or images of the subject.
[0083] Turning now to FIGS. 12 and 13, the relationships of the
groups of image capturing apparatus 101a, 101b, 101c, 101d, 101e is
shown. The object or subject 1201 that is to be digitally captured
is positioned between planes 301 and 303 so that it is surrounded
by the groups of image capturing apparatus 101a, 101b, 101c, 101d,
101e. The groups of image capturing apparatus 101a, 101b, 101c,
101d, 101e define a volumetric spatial region 200 within which
three-dimensional images are captured.
[0084] In another embodiment of the invention, shown schematically
in FIG. 14, an additional group of image capturing devices 101f,
101g, 101h, 101i are positioned in an additional plane 1401 and a
further group of image capturing devices 101j is place in plane
300. Group 101f and 101g are not visible in FIG. 14, but are
positioned below groups 101a, 101b, respectively. By providing
additional image capturing devices in additional planes, high
accuracy three-dimensional surface images may be obtained over
larger objects or subjects 200. By way of non-limiting example,
such an arrangement may capture full head and body images of a
subject. It will be appreciated by those skilled in the art that
the support structure of FIGS. 1 through 6 may be expanded to
additionally provide fixed support to the additional group of image
capturing devises 1301a, 1301b, 1301c, 1301d and further group of
image capturing devices 1401f.
[0085] Turning back to the embodiment of system 100 shown in FIGS.
1-6, the surfaces of structure 102 are painted or otherwise treated
to provide low reflectivity. The low reflectivity surfaces reduce
reflection induced errors in the images captured by the various
groups of image capturing devices.
[0086] The invention has been described in terms of specific
embodiments. It will be appreciated by those skilled in the art
that various changes and modifications may be made to the
embodiments without departing from the scope of the invention. It
is not intended that the invention be limited to the embodiments
shown and described. It is intended that the invention include all
foreseeable modifications to the embodiments shown and described.
It is intended that the invention be limited in scope only by the
claims appended hereto.
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